Posts by dmbj

simply arrow over the point number and press position. you can then manually alter the position

your battery number should be A98L–0031–0007 looks like a 3.0V X 4 to me

1st, for the moment if you do not turn off of the robot you will not loose anything.

2nd what controller are you using?

3rd there are 1.5v x 4 side c or d batteries at the base of the robot to hold encoder counts and there is most likely a 3.6v battery in your controller that keeps the SRAM

I think you do not understand the difference between Cartesian vs Joint Representation and a Linear/Joint motion type.

First, a PR dose not store Cartesian and joint coordinates at the same time. only one.

If you store a position (in this case a PR) in Cartesian coordinates it will have a configuration including option such as flip. if you move to this position in a Linear or Joint move the robot will move its TCP in the current active user frame and tool frame to that position, in that configuration. It that PR is then converted to a joint representation it no longer takes any configuration or frames into consideration. the robot moves to those 6 joint values

Under the config menu you can set a single output to go high if any e-stop occurs, then you can tie that on to whatever outputs you want to turn off via background program or in your plc.

Actually you can write directly to the uframe system variables $mnuframe. so there is no reason to ever have to reboot your controller after changing a uframe however you should always reset your uframe=[x] where x is the one you want to use.

On an R30ia or R30ib you can simply press menu, 6setup, then collision guard/collision detect (it's different from 7.x to 8.3)
and then simply type in a number from 1 to 200 as a default number

that being said if you change the number with in a tp program using collision adjust you must change system variable $HSCDMNGRP[1].$AUTO_RESET from default 1 to 0. if you do not change the variable the controller will ignore the Collision guard adjust instruction and reset col guard to whatever it says on the menu screen. also stored at $HSCDMNGRP[1].$THRESHOLD

Also if you want to make defaults to just single axis as you mentioned above those param119,120's are also found under $HSCDMNGRP[1]

This may work out for you.

first make the reference point a position register pr[10]

uframe[4]=PR[10]

teach the points in uframe[4] and they will move with the reference point

RO1 can only be set to Complimentary to R02, then R03 to R04 and so on. also you can do this in Digital outputs.

You will have to trace them out but the signals for R01-4 come from DV1 I.C. on the main cpu board and R05-8 come from DV2 I.C.

I believe you will not see the option to install the extended axis until the hardware is installed, at the very least the 12 axis control card.

do you have and extra teach pendant and TP cable to try. it could be in there.

t1 t2 switch
door switch
just a guess

#1 X direction in a visual line track application MUST be the direction of the conveyor. (Uframe)

#2 you must set trig command when you find it the part to track it.

that being said

PR[10]=vr[1]
r[10]=pr[10,1]
r[10] is now the X value of vr[1]

now for the we cant find the part if it is more left.
can you see the part in the picture or is it out of the view of the camera?
is your search window open all the way (640x480)?
if the camera can not see the part, raise the camera and re calibrate

quick answer 1: Rem out that line.
quick answer 2: simulate that input on

Menu
Test cycle
then set: Group motion to ENABLE

That should fix ya up

from the 8.3 error reference manual, In there Engrish.
3.15.7.41 PRIO-098 PMC communication error
Cause: Failed to PMC Ethernet communication.
Remedy: Please back to square one.

My questions now are:
1) Is it even possible to make a connection between labview and the controller?

I know nothing about labview but if it can communicate with a PLC, then the PLC can communicate with the controller.

2) Is TPC/IP a valid protocol to communicate between labview and the controller?
Yes if #1 is true

3) Where can i find the information about the commands that need to be send by labview to make the robot move?

I can only assume labview will send positional data/offsets to the controller, the rest is tp programming.

$group[1].$use_wjturns If set to true the wristjoint may “wrap” or “unwrap” more than 180degrees during the motion, if set to false the wristjoint motion will the shortest rotational path.

try making it a non motion program

put the wait in there

and do not run in background. RUN (not CALL) it as a multi task program.

it will stop on a fault unless you set it to ignore pause. there will most likely be other obstacles to overcome.
and also you will need to jump from the bottom back up to the top until you reach whatever value it is that you are looking for.